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Eccentricity values in joints |
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Good afternoon everyone,
I am using a UR5 CB-series and, while having a look at the files in the "expert mode" I run into the txt files about joint calibration and, after opening them, I saw that, for each joint, there are, among other data, the following info:
I am using a UR5 CB-series and, while having a look at the files in the "expert mode" I run into the txt files about joint calibration and, after opening them, I saw that, for each joint, there are, among other data, the following info:
Eccentricy tau : 0.10776
Eccentricy sigma : 0.03001
Eccentricy mean : 0.33603 mrad
Eccentricy max : 0.64359 mrad
Does anyone knows to what they are referring? In particular the first 2 values: eccentricy tau and sigma?
Thank you very much fro your help
Best regards
Andrea
Does anyone knows to what they are referring? In particular the first 2 values: eccentricy tau and sigma?
Thank you very much fro your help
Best regards
Andrea
Integration Coach
They are noted in this file only for logging.
but I would like to build a mathematical model of the UR5 for research purposes at my univerisity and so I was wondering if these parameters would be useful and I would be very great to you if you could tell me or send me a document, if it is possible, to know how these values are used and how they affect the calibration procedure. For example, what "eccentricity tau" phisically represents and it's effect and so on.
Thank you very much for your help.